CN111382614B - Vehicle positioning method, device, electronic equipment and computer readable storage medium - Google Patents
Vehicle positioning method, device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN111382614B CN111382614B CN201811626547.7A CN201811626547A CN111382614B CN 111382614 B CN111382614 B CN 111382614B CN 201811626547 A CN201811626547 A CN 201811626547A CN 111382614 B CN111382614 B CN 111382614B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application provides a vehicle positioning method, a vehicle positioning device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring first position information of a vehicle; when the vehicle is judged to travel to a target bifurcation according to the first position information, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera, and identifying the number of target lane lines of the current travel road of the vehicle according to the road image; acquiring the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road; comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information; and positioning the vehicle according to the first position information and the second position information. The vehicle positioning method, the vehicle positioning device, the electronic equipment and the computer readable storage medium can improve the positioning precision.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a vehicle positioning method, a vehicle positioning device, an electronic device, and a computer readable storage medium.
Background
In a traffic system, the location of the device can be updated in real time by a positioning technique. For example, the latitude and longitude of the device may be determined by a positioning technique, or it may be determined which city, street, etc. the device is in, and the location of the device may be marked on a map. However, in the process of actual positioning, if the positioning accuracy is low, the positioning may deviate.
Disclosure of Invention
The embodiment of the application provides a vehicle positioning method, a vehicle positioning device, electronic equipment and a computer readable storage medium, which can improve the positioning accuracy.
A vehicle positioning method, comprising:
acquiring first position information of a vehicle;
when the vehicle is judged to travel to a target bifurcation according to the first position information, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera, and identifying the number of target lane lines of the current travel road of the vehicle according to the road image;
acquiring the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road;
comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
And positioning the vehicle according to the first position information and the second position information.
In one embodiment, when it is determined that the vehicle is traveling to the target bifurcation point according to the first location information, the acquiring the road image of the current traveling road of the vehicle acquired by the camera includes:
when a branch road junction exists in a preset road section range corresponding to the first position information, and an included angle formed between branch roads corresponding to the branch road junction is smaller than a preset angle, judging that the vehicle runs to a target branch road junction;
and when the vehicle is judged to travel to the target bifurcation, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera.
In one embodiment, the acquiring the road image of the current driving road of the vehicle acquired by the camera includes:
acquiring distance information from the position of the vehicle to the target bifurcation, and acquiring acquisition frame rate according to the distance information;
and acquiring a road image of the current running road of the vehicle, which is acquired by the camera according to the acquisition frame rate.
In one embodiment, the acquiring the acquisition frame rate according to the distance information includes:
And determining a distance range within which the distance information falls, and acquiring an acquisition frame rate corresponding to the distance range according to a pre-established corresponding relation between the distance range and the acquisition frame rate.
In one embodiment, the obtaining the number of reference lane lines of each bifurcation road corresponding to the target bifurcation includes:
identifying a lane line in the road image, and acquiring the lane width of the current running road of the vehicle according to the identified lane line;
acquiring the reference road width of each bifurcation road corresponding to the target bifurcation road from a database;
and acquiring the number of the reference lane lines of each bifurcation road corresponding to the target bifurcation road according to the reference road width and the lane width.
In one embodiment, the obtaining the road image of the current driving road of the vehicle acquired by the camera, and identifying the number of target lane lines of the current driving road of the vehicle according to the road image includes:
acquiring continuous multi-frame road images of the current running road of the vehicle, which are acquired by a camera, and respectively identifying the number of target lane lines of the current running road of the vehicle according to each frame of road image;
Comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information, wherein the method comprises the following steps:
and when the number of all the identified target lane lines is the same, comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information.
In one embodiment, the comparing the number of target lane lines with the number of reference lane lines to obtain the second position information includes:
comparing the number of the target lane lines with the number of the reference lane lines, and taking the bifurcation road corresponding to the number of the reference lane lines matched with the number of the target lane lines as a target bifurcation road;
and obtaining second position information according to the target bifurcation road.
A vehicle positioning device comprising:
the first position acquisition module is used for acquiring first position information of the vehicle;
the image acquisition module is used for acquiring a road image of the current running road of the vehicle acquired by the camera when the vehicle is judged to run to the target bifurcation according to the first position information, and identifying the number of target lane lines of the current running road of the vehicle according to the road image;
The quantity acquisition module is used for acquiring the quantity of the reference lane lines corresponding to each bifurcation road of the target bifurcation road;
the second position acquisition module is used for comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
and the positioning module is used for positioning the vehicle according to the first position information and the second position information.
An electronic device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
acquiring first position information of a vehicle;
when the vehicle is judged to travel to a target bifurcation according to the first position information, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera, and identifying the number of target lane lines of the current travel road of the vehicle according to the road image;
acquiring the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road;
comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
and positioning the vehicle according to the first position information and the second position information.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring first position information of a vehicle;
when the vehicle is judged to travel to a target bifurcation according to the first position information, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera, and identifying the number of target lane lines of the current travel road of the vehicle according to the road image;
acquiring the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road;
comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
and positioning the vehicle according to the first position information and the second position information.
The vehicle positioning method, the vehicle positioning device, the electronic equipment and the computer readable storage medium firstly acquire first position information of the vehicle, and acquire a road image of a current running road of the vehicle acquired by the camera when the vehicle is judged to run to a target bifurcation point according to the first position information. And then identifying the number of target lane lines of the current driving road of the vehicle according to the acquired road image. And finally, comparing the number of the target lane lines with the number of the reference lane lines of each bifurcation road of the target bifurcation road to obtain second position information, and positioning the vehicle according to the obtained first position information and second position information. Therefore, the second position information of the current running of the vehicle can be identified according to the road image acquired by the camera, the vehicle is positioned by combining the second position information on the basis of the first position information, and the positioning accuracy can be improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of an application environment for a vehicle positioning method in one embodiment;
FIG. 2 is a flow chart of a method of vehicle positioning in one embodiment;
FIG. 3 is a flow chart of a method of vehicle positioning in another embodiment;
FIG. 4 is a schematic diagram of a target bifurcation junction in one embodiment;
FIG. 5 is a flow chart of a method of vehicle positioning in yet another embodiment;
FIG. 6 is a flow chart of a method of vehicle positioning in yet another embodiment;
FIG. 7 is a block diagram of a vehicle positioning device of an embodiment;
FIG. 8 is a schematic diagram of the internal structure of a terminal in one embodiment;
FIG. 9 is a schematic diagram of an internal structure of a server in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
FIG. 1 is a diagram of an application environment for a vehicle positioning method in one embodiment. As shown in fig. 1, the application environment includes a vehicle 102, a server 104, and a satellite 106. Specifically, the first location information of the vehicle 102 may be acquired by the satellite 106, and then whether the vehicle 102 is traveling to the target bifurcation is determined by the server 104 according to the first location information. When the vehicle 102 is judged to travel to the target bifurcation according to the first position information, acquiring a road image of a current traveling road of the vehicle 102 acquired by a camera, and identifying the number of target lane lines of the current traveling road of the vehicle 102 according to the road image; acquiring the number of reference lane lines corresponding to each bifurcation road of a target bifurcation road; comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information; the vehicle 102 is positioned according to the second position information.
FIG. 2 is a flow chart of a method of vehicle positioning in one embodiment. As shown in fig. 2, the vehicle positioning method includes steps 202 to 210. Wherein:
step 202, first location information of a vehicle is acquired.
In one embodiment, the vehicle may be positioned by a positioning system during travel, thereby acquiring the position of the vehicle in real time. For example, the specific position of the vehicle may be obtained by positioning according to a positioning system such as a global positioning system (Global Positioning System, GPS), dead Reckoning (DR), a beidou satellite navigation system (BeiDou Navigation Satellite System, BDS), etc.
The first location information may be located according to the above-mentioned positioning system. For example, the first position information of the vehicle may be acquired through a GPS system, and a GPS receiver may be installed on the vehicle, and the GPS satellite may send the position information of the vehicle to the GPS receiver in real time. The first location information may be represented by longitude and latitude, or may be represented by other means, which is not limited herein.
Step 204, when the vehicle is determined to travel to the target bifurcation point according to the first position information, acquiring a road image of the current traveling road of the vehicle, which is acquired by the camera, and identifying the number of target lane lines of the current traveling road of the vehicle according to the road image.
The target bifurcation point is an intersection where the distances between bifurcation roads are relatively close, and since the distances between bifurcation roads of the target bifurcation point are relatively close, an error may occur when the positioning system positions the vehicle. For example, when two diverging roads corresponding to the target diverging intersection are respectively a road a and a road B, and the road a and the road B are close to each other, the positioning system positions the position of the vehicle on the road B when the vehicle runs on the road a, thereby causing a positioning error.
After the first position information is acquired, it may be determined whether the vehicle is traveling to the target bifurcation point based on the first position information. Specifically, the Database (Database) may store target position information corresponding to each target bifurcation, compare the first position information with the target position information in the Database, and if there is target position information matching the first position information in the Database, determine that the vehicle is currently driving to the target bifurcation.
For example, the database may be stored on a server, and after the vehicle acquires the first location information, the first location information may be uploaded to the server, and then the server determines whether the vehicle has currently traveled to the target bifurcation point according to the first location information. The database may also be stored in a storage space local to the vehicle, without limitation.
When the vehicle is judged to travel to the target bifurcation according to the first position information, the control module of the vehicle can control the camera to be started, and the road image of the current travel road of the vehicle is acquired through the camera. For example, the control camera may collect road images once every 200ms (milliseconds), but may collect road images every a certain period of time within 5 minutes after entering the target bifurcation junction, without being limited thereto.
After the road image is acquired, the number of target lane lines of the current driving road of the vehicle can be identified according to the road image. The lane lines are lines used for distinguishing lanes on the road, edge detection can be performed on the road image, then the lane lines in the road are identified according to the result of the edge detection, and then the number of the lane lines is calculated. The number of target lane lines is the number of lane lines identified according to the road image, and in other embodiments, the number of target lane lines may be obtained according to other methods such as artificial intelligence, which is not limited herein. For example, the road comprises 2 lanes, and the number of the identified lane lines is 3.
Step 206, obtaining the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road.
It will be appreciated that the database may store information regarding the target bifurcation junction. For example, the database may store information such as the number of lanes, the number of reference lane lines, and the specific position of the target bifurcation point for each bifurcation road corresponding to the target bifurcation point, but is not limited thereto. The reference lane line number is the actual lane line number on each divergent road stored in the database.
For example, the bifurcation road corresponding to the target bifurcation corresponds to a left-turn bifurcation road and a right-turn bifurcation road, the left-turn bifurcation road comprises 2 lanes, the right-turn bifurcation road comprises 1 lane, and then the number of reference lane lines corresponding to the left-turn bifurcation road and the right-turn bifurcation road is 3 and 2 respectively.
And step 208, comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information.
Specifically, after the number of target lane lines and the number of reference lane lines are obtained, the number of target lane lines and the number of reference lane lines of each bifurcation road can be compared, and the number of target lane lines is judged to be matched with the number of reference lane lines of which bifurcation road. And then obtaining second position information according to the bifurcation road corresponding to the number of the reference lane lines matched with the number of the target lane lines.
For example, the number of the identified target lane lines is 3, the branch road corresponding to the target branch intersection comprises a road A, a road B and a road C, the number of the reference lane lines corresponding to the road A, the road B and the road C is 2, 3 and 5 respectively, that is, the number of the target lane lines is matched with the number of the reference lane lines corresponding to the road B, and then the current running of the vehicle on the road B is indicated.
Step 210, positioning the vehicle according to the first position information and the second position information.
In the embodiment provided by the application, after the second position information is acquired, the vehicle can be positioned according to the first position information and the second position information. According to the second position information, the specific running of the vehicle on the bifurcation road can be known, and then the vehicle is specifically positioned by combining the data updated in real time by the positioning system, namely the first position information. For example, the accurate positioning of the vehicle is obtained by acquiring the approximate position of the vehicle, i.e. the first position information, according to the positioning system, and then determining which lane the vehicle is in particular on according to the second position information.
According to the vehicle positioning method provided by the embodiment, first position information of a vehicle is obtained, and when the vehicle is judged to travel to a target bifurcation point according to the first position information, a road image of a current traveling road of the vehicle, which is acquired by a camera, is obtained. And then identifying the number of target lane lines of the current driving road of the vehicle according to the acquired road image. And finally, comparing the number of the target lane lines with the number of the reference lane lines of each bifurcation road of the target bifurcation road to obtain second position information, and positioning the vehicle according to the obtained first position information and second position information. Therefore, the second position information of the current running of the vehicle can be identified according to the road image acquired by the camera, and the vehicle is positioned by combining the second position information on the basis of the first position information, so that the positioning is more accurate, and the positioning accuracy is improved.
FIG. 3 is a flow chart of a method of vehicle positioning in another embodiment. As shown in fig. 3, the vehicle positioning method includes steps 302 to 318. Wherein:
step 302, first location information of a vehicle is acquired.
And step 304, when the branch road junctions exist in the preset road section range corresponding to the first position information, and the included angle formed between the branch roads corresponding to the branch road junctions is smaller than the preset angle, judging that the vehicle runs to the target branch road junction.
The first position information is used to indicate the approximate position of the vehicle running, and specifically may be indicated by a latitude and longitude format or the like, and is not limited thereto. After the first position information of the vehicle is acquired, whether a target bifurcation point exists in a preset road section range corresponding to the first position information can be judged.
Specifically, the database may store the position information of each bifurcation point, after the first position information is obtained, the position information of each bifurcation point in the database is searched, and then whether each searched position information falls into a preset road section range corresponding to the first position information is judged. If the position information of the branch road junction in the searched database falls into the preset road section range of the first position information, the fact that the branch road junction exists in the preset road section range of the first position information is indicated.
When the branch road exists in the preset road section range of the first position information, acquiring each branch road corresponding to the branch road in the preset road section range of the first position information, judging whether the included angle between each branch road is smaller than the preset angle, and if the included angle between each branch road is smaller than the preset angle, considering the branch road in the preset road section range of the first position information as the target branch road. For example, when the angle of the included angle between the branch roads is smaller than 60 °, the branch road is considered as the target branch road.
In one embodiment, when the bifurcation corresponds to more than two bifurcation roads, it can be considered that the bifurcation road is the target bifurcation road as long as the included angle between any two adjacent bifurcation roads is smaller than the preset angle.
It can be understood that when the position information corresponding to each bifurcation point is stored in the database, the target bifurcation point in the database can be marked at the same time, so that whether the bifurcation point is the target bifurcation point or not is not needed to be judged according to the included angle between bifurcation roads every time, and whether the bifurcation point in the preset road section range corresponding to the first position information is the target bifurcation point or not can be judged directly according to the mark.
And 306, when the vehicle is judged to run to the target bifurcation, acquiring a road image of the current running road of the vehicle, which is acquired by the camera, and identifying the number of target lane lines of the current running road of the vehicle according to the road image.
When the vehicle is judged to be driven to the target bifurcation, the camera can be started to acquire a road image of the current driving road of the vehicle. The condition for stopping the acquisition of the road image may be set, for example, stopping the acquisition after the second position information is acquired, or stopping the acquisition after a period of time after the acquisition of the road image, or stopping the acquisition after the vehicle is determined to leave the target bifurcation point, which is not limited herein.
The camera can collect road images at a certain frequency, and then the number of target lane lines is obtained according to the road images. For example, the camera may acquire one frame of road image at 200ms, 500ms, or 1s (seconds) every interval. After the road image is acquired, the lane line of the current driving road of the vehicle may be first identified from the road image, and then the number of target lane lines may be determined from the identified lane line.
And step 308, recognizing a lane line in the road image, and acquiring the lane width of the current running road of the vehicle according to the recognized lane line.
The lane lines are lines used for distinguishing lanes on the road, after the road image is acquired, the lane lines of the road image can be identified, and the lane width of the current running road of the vehicle can be acquired according to the lane lines. The lane width refers to the width of each lane on the current running road of the vehicle, specifically, the vehicle position can be determined according to the road image, and the lane width can be determined according to the distance from the vehicle position to the lane line. The lane width may also be determined directly from the distance between two adjacent lane lines, which is not limited herein.
It will be appreciated that the road image is made up of a number of pixels, and that after the lane lines are identified in the captured road image, the number of pixels spaced between each lane line may be determined. The corresponding relation between each pixel point and the actual distance can be established in advance, and after the number of the pixel points at intervals between the lane lines is obtained, the corresponding actual distance can be determined according to the number of the pixel points, so that the lane width can be determined.
Step 310, obtaining the reference road width of each bifurcation road corresponding to the target bifurcation point from the database.
In the embodiment of the application, the number of the reference lane lines can be directly stored in the database, and the reference road width can also be stored. When the number of the reference lane lines is stored in the database, the stored number of the reference lane lines can be directly obtained from the database; when the number of reference lane lines is not stored in the database, the reference road width may be acquired from the database, and the number of reference lane lines may be calculated according to the reference road width.
For example, the road widths of the "expressway" and the "ordinary road" are different, and each bifurcation road corresponding to the target bifurcation point and the reference road width corresponding to each bifurcation road may be stored in the database. After the target bifurcation point is determined, a reference road width may be obtained from a database according to the target bifurcation point.
Step 312, the number of reference lane lines of each bifurcation road corresponding to the target bifurcation road is obtained according to the reference road width and the lane width.
After the reference road width and the lane width are determined, the reference lane number of each bifurcation road corresponding to the target bifurcation point can be determined according to the reference road width and the lane width. For example, the lane width determined according to the road image is 3 meters, the target bifurcation corresponds to bifurcation road 1 and bifurcation road 2, the reference road width corresponding to bifurcation road 1 is 9 meters, the reference road width corresponding to bifurcation road 2 is 3 meters, and then the number of lanes of the obtained bifurcation road 1 is 9/3=3, i.e. the number of reference lane lines is 4; the number of lanes of the bifurcation road 2 is 3/3=1, i.e., the number of reference lane lines is 2.
In step 314, the number of target lane lines is compared with the number of reference lane lines, and the bifurcation road corresponding to the number of reference lane lines matching the number of target lane lines is used as the target bifurcation road.
And comparing the number of the target lane lines with the number of the reference lane lines, judging which reference lane line number the number of the target lane lines is matched with, and taking the bifurcation road corresponding to the number of the reference lane lines matched with the number of the target lane lines as a target bifurcation road.
For example, if there are three diverging roads at the target diverging road, the diverging road 1 corresponds to 8 lane lines, the diverging road 2 corresponds to 7 lane lines, the diverging road 3 corresponds to 5 lane lines, and the current driving road of the vehicle identified from the road image is 7 lane lines, it is possible to determine that the vehicle is currently driving on the diverging road 2.
And step 316, obtaining second position information according to the target bifurcation road.
And step 318, positioning the vehicle according to the first position information and the second position information.
In the embodiment of the application, after the target bifurcation road is determined, the vehicle can be positioned according to the second position information obtained by the target bifurcation road. Specifically, the approximate position of the vehicle can be determined according to the first position information, which branch road the vehicle currently processes can be determined according to the second position information, and the specific position of the vehicle can be determined according to the first position information and the second position information.
For example, the vehicle may acquire the first position information in real time according to the GPS system, and when it is determined that the vehicle is traveling to the target bifurcation point according to the first position information, start DR to determine the vehicle rotation angle through the gyroscope, thereby determining the vehicle rotation angle, determine the pulse through the pulse sensor, thereby obtaining the traveling distance, and determine the first position information of the vehicle according to the acquired parameters such as the vehicle rotation angle, the traveling distance, and the like. And after entering the target bifurcation, the vehicle can acquire the road image in real time and determine the second position information according to the road image. The driving distance and direction of the vehicle are determined according to the first position information, and on which road the vehicle is driven is determined according to the second position information, so that the specific position of the vehicle is determined.
FIG. 4 is a schematic diagram of a target bifurcation junction in one embodiment. As shown in fig. 4, the target bifurcation corresponds to bifurcation road 420 and bifurcation road 422, respectively, and an included angle α=30° formed between bifurcation road 420 and bifurcation road 422. The number of reference lane lines corresponding to the bifurcation road 420 is 3, and the number of reference lane lines corresponding to the bifurcation road 422 is 2. When the vehicle travels to the position 40, the number of the target lane lines recognized from the collected road image is 3, and it can be judged that the vehicle is traveling on the divergent road 420.
It will be appreciated that after the vehicle enters the target bifurcation, the acquisition of the road image is started, the second location information is acquired according to the road image, and then the positioning is performed according to the second location information. The vehicle may stop acquiring the road image immediately after acquiring the second position information, or may stop acquiring the road image after judging that the vehicle has left the target bifurcation point, which is not limited herein.
According to the vehicle positioning method provided by the embodiment, when the fact that the bifurcation is in the preset road section range corresponding to the first position information and the included angle formed between the bifurcation roads corresponding to the classification intersections is smaller than the preset angle is judged, the fact that the vehicle runs to the target bifurcation intersection is judged. At the moment, the number of the target lane lines on which the vehicle is currently running can be identified according to the road image acquired by the camera, then the second position information is determined according to the number of the target lane lines, and the vehicle is positioned by combining the second position information on the basis of the first position information, so that the positioning is more accurate, and the positioning precision is improved.
In one embodiment, as shown in fig. 5, the step of acquiring the road image may specifically further include the following steps:
Step 502, obtaining distance information from the position of the vehicle to the target bifurcation point, and obtaining an acquisition frame rate according to the distance information.
After the vehicle runs to the target bifurcation, the vehicle can acquire the distance information from the current position to the target bifurcation in real time. For example, the longitude and latitude of the target bifurcation point can be stored in the database, the vehicle can calculate the current position in real time through GPS or DR, then calculate the distance information from the current position to the target bifurcation point, and acquire the acquisition frame rate according to the distance information.
Specifically, the acquisition frame rate refers to the frequency of acquiring road images by a camera, and the acquisition frequency is adjusted according to the distance information from the position of the vehicle to the target bifurcation. When the distance from the vehicle to the target bifurcation is longer, the possibility of errors in positioning is lower, and the acquisition frame rate can be reduced; when the distance from the vehicle to the target bifurcation is closer, the possibility of errors in positioning is higher, the acquisition frame rate can be adjusted to be higher, and positioning errors are reduced.
Specifically, at least two distance ranges may be first divided, then a distance range in which the distance information falls is determined, and an acquisition frame rate corresponding to the distance range is obtained according to a pre-established correspondence between the distance range and the acquisition frame rate.
For example, different distance ranges are divided, each distance range corresponding to one acquisition frame rate. And when the distance information to the target bifurcation is 500 meters, determining that the vehicle enters the target bifurcation. The distance information can be divided into the following 3 distance ranges: the corresponding acquisition frame rates are 5 frames/second, 10 frames/second and 20 frames/second within 500-300 meters, 300-100 meters and 100 meters respectively.
Step 504, obtaining a road image of the current running road of the vehicle, which is acquired by the camera according to the acquisition frame rate.
After the acquisition frame rate is determined according to the method, the camera acquires a road image of the current running road of the vehicle according to the acquisition frame rate.
In one embodiment, as shown in fig. 6, the step of acquiring the second position information may specifically further include the following steps:
step 602, acquiring continuous multi-frame road images of a current running road of the vehicle, which are acquired by a camera, and identifying the number of target lane lines of the current running road of the vehicle according to each frame of road image.
When the vehicle runs to the target bifurcation, the camera is started to collect the road image of the current running road of the vehicle, and the camera can collect the road image at a certain frequency. For example, the camera may acquire one frame of road image every 100 ms.
In one embodiment, the road images collected by the camera may form an image sequence, and each time a frame of road image is collected, the corresponding number of target lane lines may be identified according to the road image. The number of the obtained target lane lines can be arranged according to the sequence of the collected road images to form a data queue.
And step 604, comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information when the number of all the identified target lane lines is the same.
After the vehicle enters the target bifurcation, a corresponding target lane line number is identified and obtained after each frame of road image is acquired, and the obtained target lane line number is inserted into the data queue. And then the latest obtained number of the plurality of continuously arranged target lane lines can be obtained from the data queue, when the obtained number of the plurality of continuously arranged target lane lines is the same, the identification is relatively stable, and the obtained number of the target lane lines is compared with the number of each reference lane line, so that second position information is obtained.
For example, the number of the obtained target lane lines is arranged in order of the obtained time from first to last: … … 2-2 2-3, and the last target lane line number is the latest target lane line number. Assuming that the latest 5 target lane lines in a continuous arrangement are acquired, this can be expressed as: 2- & gt 3, namely the number of the obtained latest 5 target lane lines which are arranged in series is different. Assuming that the latest number of 3 target lane lines in a row is acquired, this can be expressed as: 3- > 3, that is, the number of the obtained last obtained continuously arranged 3 target lane lines is the same, the number of the obtained target lane lines "3" can be compared with the number of the reference lane lines.
It should be understood that, although the steps in the flowcharts of fig. 2, 3, 5, and 6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 2, 3, 5, 6 may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, nor does the order of execution of the sub-steps or phases necessarily follow one another, but may be performed alternately or alternately with at least some of the other steps or sub-steps of other steps.
Fig. 7 is a block diagram of a vehicle positioning device of an embodiment. As shown in fig. 7, the vehicle positioning device 700 includes a first position acquisition module 702, an image acquisition module 704, a quantity acquisition module 706, a second position acquisition module 708, and a positioning module 710. Wherein:
the first position acquisition module 702 is configured to acquire first position information of a vehicle.
And the image acquisition module 704 is used for acquiring a road image of the current running road of the vehicle acquired by the camera when the vehicle is judged to run to the target bifurcation point according to the first position information, and identifying the number of target lane lines of the current running road of the vehicle according to the road image.
And the number acquisition module 706 is configured to acquire the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road.
The second position obtaining module 708 is configured to compare the number of target lane lines with the number of reference lane lines to obtain second position information.
And the positioning module 710 is configured to position the vehicle according to the first position information and the second position information.
The vehicle positioning device provided in the above embodiment first obtains first position information of a vehicle, and when the vehicle is judged to travel to a target bifurcation point according to the first position information, obtains a road image of a current traveling road of the vehicle, which is collected by a camera. And then identifying the number of target lane lines of the current driving road of the vehicle according to the acquired road image. And finally, comparing the number of the target lane lines with the number of the reference lane lines of each bifurcation road of the target bifurcation road to obtain second position information, and positioning the vehicle according to the obtained first position information and second position information. Therefore, the second position information of the current running of the vehicle can be identified according to the road image acquired by the camera, and the vehicle is positioned by combining the second position information on the basis of the first position information, so that the positioning is more accurate, and the positioning accuracy is improved.
In one embodiment, the image acquisition module 704 is further configured to determine that the vehicle travels to a target bifurcation point when there is a bifurcation point in a preset road segment range corresponding to the first location information, and an included angle formed between each bifurcation road corresponding to the bifurcation point is smaller than a preset angle; and when the vehicle is judged to travel to the target bifurcation, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera.
In one embodiment, the image acquisition module 704 is further configured to acquire distance information from the location of the vehicle to the target bifurcation, and acquire an acquisition frame rate according to the distance information; and acquiring a road image of the current running road of the vehicle, which is acquired by the camera according to the acquisition frame rate.
In one embodiment, the image acquisition module 704 is further configured to determine a distance range within which the distance information falls, and acquire an acquisition frame rate corresponding to the distance range according to a pre-established correspondence between the distance range and the acquisition frame rate.
In one embodiment, the image acquisition module 704 is further configured to acquire continuous multi-frame road images of the current driving road of the vehicle acquired by the camera, and identify the number of target lane lines of the current driving road of the vehicle according to each frame of the road images.
In one embodiment, the number obtaining module 706 is further configured to identify a lane line in the road image, and obtain a lane width of the current driving road of the vehicle according to the identified lane line; acquiring the reference road width of each bifurcation road corresponding to the target bifurcation road from a database; and acquiring the number of the reference lane lines of each bifurcation road corresponding to the target bifurcation road according to the reference road width and the lane width.
In one embodiment, the second position obtaining module 708 is further configured to compare the number of target lane lines with the number of reference lane lines to obtain second position information when the number of all the identified target lane lines is the same.
In one embodiment, the second position obtaining module 708 is further configured to compare the number of target lane lines with the number of reference lane lines, and use a bifurcation road corresponding to the number of reference lane lines matched with the number of target lane lines as a target bifurcation road; and obtaining second position information according to the target bifurcation road.
The above-described division of the various modules in the vehicle positioning device is for illustration only, and in other embodiments, the vehicle positioning device may be divided into different modules as needed to perform all or part of the functions of the vehicle positioning device.
For specific limitations on the vehicle positioning device, reference may be made to the above limitations on the vehicle positioning method, and no further description is given here. The various modules in the vehicle locating apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Fig. 8 is a schematic diagram of an internal structure of a terminal in one embodiment. As shown in fig. 8, the terminal includes a processor and a memory connected through a system bus. Wherein the processor is configured to provide computing and control capabilities to support operation of the entire terminal. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program is executable by a processor for implementing a vehicle positioning method provided by the above embodiments. The internal memory provides a cached operating environment for operating system computer programs in the non-volatile storage medium. The terminal may be a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc., or may be other electronic devices, which are not limited herein.
FIG. 9 is a schematic diagram of an internal structure of a server in one embodiment. As shown in fig. 9, the server includes a processor and a memory connected through a system bus. Wherein the processor is configured to provide computing and control capabilities to support the operation of the entire server. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program may be executed by a processor. The internal memory provides a cached operating environment for the operating system computer program in the nonvolatile storage medium, and can store data through the database to provide data support for the terminal to realize the vehicle positioning method. The server may be implemented as a stand-alone server or as a server cluster composed of a plurality of servers. It will be appreciated by those skilled in the art that the structure shown in fig. 9 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the server to which the present inventive arrangements are applied, and that a particular server may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The implementation of each module in the vehicle positioning device provided in the embodiment of the application may be in the form of a computer program. The computer program may run on a terminal or a server. Program modules of the computer program may be stored in the memory of the terminal or server. Which when executed by a processor, performs the steps of the method described in the embodiments of the application.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform steps of a vehicle positioning method.
A computer program product containing instructions that, when run on a computer, cause the computer to perform a vehicle positioning method.
Any reference to memory, storage, database, or other medium used in the present application may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
acquiring first position information of a vehicle;
when the vehicle is judged to travel to a target bifurcation point according to the first position information, acquiring a road image of a current traveling road of the vehicle, which is acquired by a camera, and identifying the number of target lane lines of the current traveling road of the vehicle according to the road image, wherein the target bifurcation point is a point with a close distance between bifurcation roads;
acquiring the number of reference lane lines corresponding to each bifurcation road of the target bifurcation road;
comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
Positioning the vehicle according to the first position information and the second position information;
the obtaining the road image of the current running road of the vehicle, which is collected by the camera, comprises the following steps: acquiring distance information from the position of the vehicle to the target bifurcation, and acquiring acquisition frame rate according to the distance information; acquiring a road image of the current running road of the vehicle acquired by the camera according to the acquisition frame rate;
the obtaining the road image of the current running road of the vehicle, which is collected by the camera, and identifying the number of target lane lines of the current running road of the vehicle according to the road image comprises the following steps: acquiring continuous multi-frame road images of the current running road of the vehicle, which are acquired by a camera, and respectively identifying the number of target lane lines of the current running road of the vehicle according to each frame of road image;
comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information, wherein the method comprises the following steps: and when the number of the plurality of the target lane lines which are continuously arranged and are obtained newly is the same, comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information.
2. The method according to claim 1, wherein the acquiring the road image of the current running road of the vehicle acquired by the camera when it is determined that the vehicle is running to the target bifurcation point based on the first position information includes:
when a branch road junction exists in a preset road section range corresponding to the first position information, and an included angle formed between branch roads corresponding to the branch road junction is smaller than a preset angle, judging that the vehicle runs to a target branch road junction;
and when the vehicle is judged to travel to the target bifurcation, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera.
3. The method of claim 1, wherein the acquiring the acquisition frame rate from the distance information comprises:
and determining a distance range within which the distance information falls, and acquiring an acquisition frame rate corresponding to the distance range according to a pre-established corresponding relation between the distance range and the acquisition frame rate.
4. The method of claim 1, wherein the obtaining the number of reference lane lines of each bifurcation road corresponding to the target bifurcation comprises:
identifying a lane line in the road image, and acquiring the lane width of the current running road of the vehicle according to the identified lane line;
Acquiring the reference road width of each bifurcation road corresponding to the target bifurcation road from a database;
and acquiring the number of the reference lane lines of each bifurcation road corresponding to the target bifurcation road according to the reference road width and the lane width.
5. The method according to any one of claims 1 to 4, wherein comparing the number of target lane lines with the number of reference lane lines to obtain second position information comprises:
comparing the number of the target lane lines with the number of the reference lane lines, and taking the bifurcation road corresponding to the number of the reference lane lines matched with the number of the target lane lines as a target bifurcation road;
and obtaining second position information according to the target bifurcation road.
6. A vehicle positioning device, characterized by comprising:
the first position acquisition module is used for acquiring first position information of the vehicle;
the image acquisition module is used for acquiring a road image of a current running road of the vehicle, which is acquired by a camera, when the vehicle is judged to run to a target bifurcation point according to the first position information, and identifying the number of target lane lines of the current running road of the vehicle according to the road image, wherein the target bifurcation point is an intersection with a close distance between bifurcation roads;
The quantity acquisition module is used for acquiring the quantity of the reference lane lines corresponding to each bifurcation road of the target bifurcation road;
the second position acquisition module is used for comparing the number of the target lane lines with the number of the reference lane lines to obtain second position information;
the positioning module is used for positioning the vehicle according to the first position information and the second position information;
the image acquisition module is also used for acquiring distance information from the position of the vehicle to the target bifurcation point and acquiring acquisition frame rate according to the distance information; acquiring a road image of the current running road of the vehicle acquired by the camera according to the acquisition frame rate;
the image acquisition module is further used for acquiring continuous multi-frame road images of the current running road of the vehicle, which are acquired by the camera, and identifying the number of target lane lines of the current running road of the vehicle according to each frame of road image;
and the second position acquisition module is further used for comparing the number of the target lane lines with the number of each reference lane line to obtain second position information when the number of the plurality of the target lane lines which are continuously arranged and are obtained newly is identified to be the same.
7. The apparatus of claim 6, wherein the image acquisition module is further configured to determine that the vehicle is traveling to a target bifurcation point when there is a bifurcation point within a preset road segment range corresponding to the first location information, and an included angle formed between each bifurcation road corresponding to the bifurcation point is smaller than a preset angle; and when the vehicle is judged to travel to the target bifurcation, acquiring a road image of the current travel road of the vehicle, which is acquired by a camera.
8. The apparatus of claim 6, wherein the image acquisition module is further configured to determine a distance range within which the distance information falls, and acquire an acquisition frame rate corresponding to the distance range according to a pre-established correspondence between the distance range and the acquisition frame rate.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the vehicle locating method of any of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the vehicle localization method as claimed in any one of claims 1 to 5.
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| CN112287842A (en) * | 2020-10-29 | 2021-01-29 | 恒大新能源汽车投资控股集团有限公司 | Lane line identification method and device and electronic equipment |
| CN112562406B (en) * | 2020-11-27 | 2022-08-16 | 众安在线财产保险股份有限公司 | Method and device for identifying off-line driving |
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